CN115639868B - Self-adaptive temperature control method, device and system for magnetic stimulation device - Google Patents
Self-adaptive temperature control method, device and system for magnetic stimulation device Download PDFInfo
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Abstract
The invention provides a self-adaptive temperature control method, equipment and a system for magnetic stimulation equipment, wherein the self-adaptive temperature control method, the equipment and the system comprise the following steps: the method comprises the following steps: establishing a physical model of the magnetic stimulation system according to the electrical parameters of all electronic components of the magnetic stimulation system and the parameters of the coil; step two: establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from input voltage to output current of the magnetic stimulation system; step three: fitting real-time parameter values of the magnetic stimulation system at the moment by a least square method according to the real-time input voltage and output current of the magnetic stimulation system and the transfer function; step four: obtaining the real-time temperature of the coil according to the real-time parameter value; step five: calculating the temperature error between the real-time temperature of the coil and the preset temperature of the system, and controlling the heat dissipation strength of the heat dissipation system by judging the positive and negative of the temperature error; the invention achieves the effect of adaptively controlling the temperature by adaptively controlling the liquid cooling system and the output voltage.
Description
Technical Field
The invention relates to the technical field of control of magnetic stimulation equipment, in particular to a self-adaptive temperature control method, equipment and a system for the magnetic stimulation equipment.
Background
The magnetic stimulation technology is more and more accepted by the medical field, and besides the transcranial magnet (used for nerve rehabilitation and mental rehabilitation) and pelvic floor magnet (used for postpartum rehabilitation and private plastic) which are widely advocated for many years, the magnetic stimulation technology also has the rapidly popular shaping magnet (used for fat reduction and shaping); with the ever-increasing market and application scenes, the requirements of the magnetic stimulation technology are higher and higher; the existing magnetic stimulation equipment mainly comprises a main control panel, a silicon controlled rectifier, a boosting power supply, an energy storage pulse capacitor, a resistance-capacitance absorption plate, a coil, a liquid cooling system and the like; the main control board controls the boosting power supply to start boosting, a charging circuit in the boosting power supply charges the energy storage pulse capacitor, the main control board turns on the silicon controlled rectifier after the charging is finished, the pulse capacitor discharges through the coil, and a space pulse magnetic field is generated when current passes through the coil; the pulse magnetic field generates induced current in target tissue of human body to cause depolarization of target nerve cell so as to reach physiological effect and therapeutic effect.
When the magnetic stimulation device outputs magnetic stimulation in operation, large current pulses flow through the coil to increase the temperature in the coil, the system adjusts the flow rate of cooling liquid through the voltage of the impeller pump to cool the coil, but the cooling capacity of the cooling system of the coil is limited, the temperature can be rapidly increased when the high-frequency and high-strength repeated stimulation is performed, the output of the device can be stopped if the device exceeds the safe temperature, the device can be recovered after the temperature is reduced, and the aging of the coil can be accelerated when the use is influenced.
Therefore, temperature control is always an important problem for restricting the magnetic stimulation technology; at present, various magnetic stimulators mainly use a black box model to carry out rough control on temperature, and output voltage and treatment intensity are limited once by once, so that the selection of treatment schemes is limited, and the treatment effect is reduced; in the actual operation process of the system, the resistance value of the coil changes along with the temperature, and the physical quantities such as the magnetic field intensity, the rigidity, the damping and the like all change along with the change of the input voltage, so that the output temperature of the system is inconsistent with the target output, and the preset treatment target cannot be reached.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a self-adaptive temperature control method, equipment and a system for magnetic stimulation equipment, which can solve the problems that the existing magnetic stimulation equipment limits the output voltage and the treatment intensity at one step, so that the selection of a treatment scheme is limited, and the treatment effect is reduced.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention is realized by the following technical scheme: an adaptive temperature control method for a magnetic stimulation device, comprising:
the method comprises the following steps: establishing a physical model of the magnetic stimulation system according to the electrical parameters of all electronic components of the magnetic stimulation system and the parameters of the coil;
step two: establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from input voltage to output current of the magnetic stimulation system;
step three: fitting real-time parameter values of the magnetic stimulation system at the moment by a least square method according to the real-time input voltage and output current of the magnetic stimulation system and the transfer function;
step four: obtaining the real-time temperature of the coil according to the real-time parameter value;
step five: calculating the temperature error T _ error (T) between the real-time temperature T (T) of the coil and the preset temperature T _ Set of the system, controlling the heat dissipation strength of the heat dissipation system by judging the positive and negative of the T _ error (T),
if T _ error (T) is positive, the heat dissipation force is controlled to accelerate the heat dissipation of the coil,
if T _ error (T) is negative, the heat dissipation force is controlled to slow down the heat dissipation of the coil.
Further, the establishing of the physical model of the magnetic stimulation system according to the electrical parameters of all the electronic components of the magnetic stimulation system and the parameters of the coil includes: according to the equivalent total resistance R of all electronic components of the magnetic stimulation system e Equivalent total inductance L e And equivalent magnetic induction multiplied by effective length Bl, equivalent mass M, stiffness K of the coil m And damping R m Establishing a physical model related to the time t and the output voltage u (t) of a power supply at the time t of the system, the current i (t) at two ends of a coil at the time t and the position deviation x (t) of the coil at the time t; the electrical physical model of the magnetic stimulation system is established as follows:
the mechanical physical model of the magnetic stimulation system is established as follows:
in the above formula, t is time, R e Is an equivalent total resistance, L e For equivalent total inductance, bl is the equivalent magnetic induction multiplied by the effective length, M is the equivalent mass of the coil, K m Is the stiffness of the coil, R m Damping of the coil.
Further, the establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from an input voltage to an output current of the magnetic stimulation system includes: performing Laplace transform on the output voltage U (t) of a power supply at the t-th moment of the system, the current I (t) at two ends of the coil and the position displacement X (t) of the coil, and converting the output voltage U (t), the current I (t) at two ends of the coil and the position displacement X (t) of the coil into U(s), I(s) and X(s) to obtain an equation set:
taking X(s) as a link, and finishing an equation set:
simplifying to obtain a transfer function G(s) of the system from the input voltage to the output current:
in the above formula, s is a parameter real time t, which is obtained by Laplace transform of a complex parameter, U(s), I(s) and X(s) are output voltage U (t) of a power supply, current I (t) at two ends of a coil and position displacement X (t) of the coil, and R is R e Is an equivalent total resistance, L e For equivalent total inductance, bl is the equivalent magnetic induction multiplied by the effective length, M is the equivalent mass of the coil, K m Is the stiffness of the coil, R m Damping of the coil.
Further, the fitting of the real-time parameter value of the system at this time by the least square method includes: setting the collected real-time input voltage as u _ real (t) and the output current i _ real (t), and fitting the real-time parameter value R of the system at the moment by using a least square method e （t）、L e （t）、Bl（t）、K m (t) and R m (t) is:
wherein R is e _lband R e Ub is the equivalent total resistance R during system operation e Lower and upper limit values of (1), L e L lb and L e Ub is the equivalent total inductance L during system operation e Bllb and Bl _ ub are the lower limit and upper limit of the effective length Bl multiplied by the equivalent magnetic induction during system operation, K m _lband K m Ubb is the stiffness K of the coil during system operation m Lower and upper limits of (2), R m L lb and R m Ubb is the damping R of the coil during system operation m A lower limit value and an upper limit value of (2).
Further, the obtaining the real-time temperature of the coil according to the real-time parameter value includes:
according to the fitted t time R e (T), the coil temperature T (T) at this time is obtained, and the calculation formula of T (T) is:
where C is a reference constant C =0.01724, B is a coil temperature coefficient of resistivity B =0.004, and t (0) is a coil initial temperature, i.e., an ambient temperature; t is r Is a reference temperature, R e (0) For coils at temperature T (0)Resistance value, R e (T) is the resistance value of the coil at the time T (T).
Further, the controlling of the heat dissipation force includes controlling a vane pump voltage of the heat dissipation system; when the temperature error at the T-th time is known as T _ error (T), the variation Control _ U (T + 1) of the vane pump Control voltage is:
wherein, the first and the second end of the pipe are connected with each other,
the voltage of the next pulse is calculated as:
in the above formula, U _ Cool (t) is the voltage of the vane pump at the present moment, K p Is a proportionality coefficient in PID algorithm, T i To integrate the time constant, T d For the differential time constant, T _ error (T) is the temperature error at the T-th time, T _ Set is the temperature Set by the system, T (T) is the real-time temperature, and U _ Cool (T + 1) is the vane pump voltage at the next time T + 1.
Judging whether the real-time voltage of the impeller pump reaches the maximum or not under the condition that the T _ error (T) is positive, if so, judging whether the real-time voltage of the impeller pump reaches the maximum or not according to a default resistance value R e Set and current resistance value R e (t) the ratio of the current i (t) of the previous pulse is compressed to obtain a compressed current i _ cps (t + 1) of the next pulse; according to the inverse G of the transfer function at that time -1 (s) and the compressed current i _ cps (t + 1), calculating the compressed voltage u _ cps (t + 1) of the next pulse output power supply, and reducing the heating power and the coil temperature of the system; the specific calculation formula is as follows:
in the above formula R e (t) is the current resistance of the system, G(s) is the transfer function, R e Setset is the resistance value of the coil at the preset temperature T _ Set, i _ cps (T + 1) is the current value of the equal-ratio compression at the next time T +1, and u _ cps (T + 1) is the compression voltage of the output power supply at the next time T + 1.
A control device comprising a processor and a memory, the memory for storing instructions, the processor for invoking the instructions in the memory to cause the control device to perform an adaptive temperature control method for a magnetic stimulation device as described above.
An adaptive temperature control system for a magnetic stimulation device, the control system comprising:
the upper computer subsystem comprises a core board and a human-computer interaction module which are connected with each other, wherein the core board is used for executing the self-adaptive temperature control method for the magnetic stimulation equipment, the human-computer interaction module is used for editing parameters of magnetic stimulation output and controlling the start and the end of magnetic stimulation, and the intensity of the stimulation output is adjusted during the magnetic stimulation output and magnetic stimulation information is displayed;
the lower computer subsystem comprises a main control module, a power supply filter and at least one path of magnetic stimulation coil, wherein the main control module is connected with the core board, and each path of magnetic stimulation coil is respectively connected with the main control module and the power supply filter; the lower computer subsystem is used for generating a pulse magnetic field;
the heat dissipation system comprises a heat dissipation control module and a heat dissipation device, wherein the input end of the heat dissipation control module is connected with the core board, the output end of the heat dissipation control module is connected with the heat dissipation device, and the heat dissipation system is used for cooling the magnetic stimulation coil and the upper computer subsystem;
the heat dissipation device comprises an impeller pump, a water tank and a fan, wherein the output end of the heat dissipation control module is respectively connected with the impeller pump, the water tank and the fan, and the impeller pump is connected with the water tank through a flow sensor; the heat dissipation control module is connected with the water tank through a liquid level sensor; the water tank is connected with the lower computer subsystem through the separator, and the fan is connected with the heat dissipation control module through the rotating speed feedback module.
Furthermore, each magnetic stimulation coil comprises at least one path of boosting power supply and one path of coil, the output end of each path of boosting power supply is connected with one path of pulse capacitor, and the pulse capacitor is connected with the coil.
Furthermore, each magnetic stimulation coil comprises a boosting power supply and at least one coil, the output end of the boosting power supply is connected with a pulse capacitor, and the pulse capacitor is connected with the at least one coil.
Compared with the prior art, the invention has the beneficial effects that:
the invention establishes a transfer function of a magnetic stimulation system, acquires voltage and current at two ends of a coil in real time, identifies real-time parameters of the system by using a least square method, calculates the temperature of the system at the moment according to a resistance value in the real-time parameters, and performs self-adaptive control on a liquid cooling system and output voltage according to the temperature of the system at the moment to achieve the effect of self-adaptive control of the temperature.
Drawings
The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. Wherein:
FIG. 1 is a schematic diagram of the working flow of an adaptive temperature control method for a magnetic stimulation apparatus according to the present invention;
FIG. 2 is a system block diagram of an adaptive temperature control system for a magnetic stimulation apparatus according to the present invention;
FIG. 3 is a comparison graph of measured current and preset current without adaptive temperature control according to an embodiment of the present invention;
FIG. 4 is a comparison graph of measured current and preset current for adaptive temperature control in an embodiment of the present invention;
FIG. 5 is a graph of stimulus intensity versus output intensity without adaptive temperature control according to an embodiment of the present invention;
FIG. 6 is a graph of stimulus intensity versus output intensity for adaptive temperature control in accordance with an embodiment of the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The invention provides an adaptive temperature control method for a magnetic stimulation device, which comprises the following steps of:
the method comprises the following steps: establishing a physical model of the magnetic stimulation system according to the electrical parameters of all electronic components of the magnetic stimulation system and the parameters of the coil;
specifically, the establishing of the physical model of the magnetic stimulation system according to the electrical parameters of all electronic components of the magnetic stimulation system and the parameters of the coil includes:
according to the equivalent total resistance R of all electronic components of the magnetic stimulation system e Equivalent total inductance L e Equivalent magnetic induction multiplied by effective length Bl, equivalent mass M, stiffness K of the coil m Damping R m Establishing a relevant physical model between the output voltage u (t) of a power supply at the time t and the t moment, the current i (t) at two ends of a coil at the t moment and the position deviation x (t) of the coil at the t moment in the magnetic stimulation system;
illustratively, according to the equivalent total resistance R of the electronic component e Equivalent total inductance L e And multiplying the equivalent magnetic induction intensity by the effective length Bl, and establishing an electrical physical model of the running time t and the electric quantity voltage u (t) of the magnetic stimulation system as follows:
according to the equivalent mass of the coil being M and the rigidity being K m Damping is R m Establishing a mechanical physical equation of the running time t of the magnetic stimulation system, the current i (t) at two ends of the coil and the position deviation x (t) of the coil as follows:
step two: establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from input voltage to output current of the magnetic stimulation system;
specifically, establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from input voltage to output current of the magnetic stimulation system, the method comprises the following steps:
wherein the mathematical model is an equation set composed of the formula (1) and the formula (2) in the step one; carrying out Laplace transformation on the electric quantity voltage u (t), the current i (t) and the mechanical quantity displacement x (t), so that a function of a parameter real number time t (t is more than or equal to 0) is converted into a function of a parameter which is a complex number s; even if the electrical magnitude voltage U (t), the current I (t), and the mechanical magnitude displacement X (t) are transformed into U(s), I(s), and X(s), a system of equations is obtained:
taking X(s) as a ligament, and finishing the equation set of the formula (3) to obtain:
simplifying the transfer function G(s) from input voltage to output current of the system:
in the formulas (3), (4) and (5), s is a parameter, real time t is obtained by Laplace transform complex parameter, U(s), I(s) and X(s) are obtained by Laplace transform of electric quantity voltage U (t), current I (t) and mechanical quantity displacement X (t), and R is e Is an equivalent total resistance, L e For equivalent total inductance, bl is the equivalent magnetic induction multiplied by the effective length, M is the equivalent mass of the coil, K m Is the stiffness of the coil, R m Damping of the coil.
Step three: fitting real-time parameter values of the magnetic stimulation system at the moment by a least square method according to the real-time input voltage and output current of the magnetic stimulation system and the transfer function;
specifically, the real-time parameter value of the magnetic stimulation system comprises the equivalent total resistance R of the magnetic stimulation system at the time t e (t) equivalent total inductance L e (t), equivalent magnetic induction multiplied by effective length Bl (t), coil stiffness K m (t) and coil damping R m （t）。
And fitting real-time parameter values of the system at the moment by a least square method, wherein the method comprises the following steps:
setting the collected real-time input voltage as u _ real (t) and the output current i _ real (t), and fitting the real-time parameter value R of the system at the moment by using a least square method e （t）、L e （t）、Bl（t）、K m (t) and R m (t) is:
in the formula (6), R e _lband R e Ub is the equivalent total resistance R during system operation e Lower and upper limit values of (1), L e _lband L e Ub is the equivalent total inductance L during system operation e Bllb and Bl _ ub are the lower limit and upper limit of the effective length Bl multiplied by the equivalent magnetic induction during system operation, K m _lband K m Ub is the stiffness K of the coil during operation of the system m Lower and upper limits of (2), R m _lband R m Ubb is the damping R of the coil during system operation m Lower limit value and upper limit value of (1).
Taking an easily understood resistor as an example, the system design value is 0.5 Ω at 20 degrees celsius in the laboratory, and the actual coil produced may be 0.51 Ω or 0.48 Ω due to the process and consistency limitations, and when the same voltage is input, different output currents will be obtained, as shown in fig. 3, superimposing L due to tolerances and assembly e 、Bl、K m And R m The deviation of these quantities, the actually measured current and the current simulated in design have a large difference of only 57.88% accuracy, and the real-time parameter value, R, can be obtained by fitting the formula 6 e Is 0.508, the real-time value is substituted into the simulation to obtain a new simulation current which is matched with the actual measurement current to reach the accuracy of 98.15 percent, as shown in figure 4; the accuracy of more than 90% is usually achieved, and the fitting can be considered to be successful, so that the real-time values of all parameters in the system are obtained;
wherein: the simulation value calculation formula is as follows: i _ simul (t) = G(s) × u _ real (t), according to equation 5, substituting into R e 、L e 、Bl、K m 、R m And the input voltage u _ real (t), calculating a current timing simulation value i _ simul (t); directly testing the coil to obtain a current time sequence measured value i _ real (t); and calculating the coincidence ratio between i _ simul (t) and i _ real (t) to obtain the system accuracy.
Step four: obtaining the real-time temperature of the coil according to the real-time parameter value;
specifically, the obtaining of the real-time temperature of the coil according to the real-time parameter value includes
Fitting out the time T R according to the step three e (T), the coil temperature T (T) at this time is obtained, and the calculation formula of T (T) is:
formula (A), (B) and7) Where C is a reference constant C =0.01724, B is a coil temperature coefficient of resistivity B =0.004, T (0) is the coil initial temperature, i.e. ambient temperature, T r For reference temperature, room temperature 20 ℃ is usually taken; r e (0) Is the resistance value, R, of the coil at a temperature T (0) e (T) is the resistance value of the coil at the time of temperature T (T).
Step five: calculating the temperature error T _ error (T) between the real-time temperature T (T) of the coil and the preset temperature T _ Set of the system, controlling the heat dissipation strength of the heat dissipation system by judging the positive and negative of the T _ error (T),
if T _ error (T) is positive, controlling the heat dissipation strength to accelerate the heat dissipation of the coil;
if T _ error (T) is negative, controlling the heat dissipation strength to slow down the heat dissipation of the coil;
specifically, the calculation formula of T _ error (T) is as follows:
wherein the step of controlling the heat dissipation force comprises controlling the voltage of the impeller pump so as to change the flow rate of the cooling liquid of the liquid cooling system to change the heat dissipation force; calculating the variation Control _ U (t + 1) of the vane pump Control voltage in the cooling system according to the formula (8):
according to the variable Control _ U (t + 1) of the vane pump Control voltage and the current time voltage U _ Cool (t) of the vane pump in the formula (8), the voltage of the vane pump after conversion (i.e. the next time t + 1) can be obtained:
in the formulas (8), (9) and (10), T (T) is the real-time temperature of the coil at the moment T, and T _ Set is the preset temperature of the systemDegree, T _ error (T) is the temperature error at time T, control _ U (T + 1) is the variation of the vane pump Control voltage, K p Is a proportionality coefficient in PID algorithm, T i To integrate the time constant, T d Is a differential time constant; u _ Cool (t) is the voltage of the vane pump at the current moment, and U _ Cool (t + 1) is the voltage of the vane pump at the next moment (t + 1). In addition K p 、T i 、T d The value of (b) will directly affect the speed and effect of temperature control; first, K is determined p Suitably K p The speed of temperature regulation is accelerated; re-determination of T i The steady state error of temperature control can be eliminated; finally determining T d Oscillations during the adjustment can be eliminated.
When T (T) is larger than T _ Set, T _ error (T) is positive, control _ U (T + 1) is calculated to be positive, impeller pump voltage is increased at the next moment, the flow speed of cooling liquid of the liquid cooling system is accelerated, and heat dissipation of a coil is accelerated.
And when T (T) is smaller than T _ Set, T _ error (T) is negative, control _ U (T + 1) is calculated to be negative, the impeller pump voltage is reduced at the next moment, the flow speed of the cooling liquid of the liquid cooling system is reduced, and the heat dissipation of the coil is slowed down.
In order to avoid the damage of the vane pump caused by excessively increasing the voltage of the vane pump, the maximum value of the voltage is set for the vane pump; judging whether the real-time voltage of the impeller pump reaches the maximum value under the condition that T _ error (T) is positive,
if yes, according to the default resistance value R e Set and current resistance value R e (t) the ratio of the current i (t) of the previous pulse is compressed to obtain a compressed current i _ cps (t + 1) of the next pulse; according to the inverse G of the transfer function at that time -1 (s) and the compressed current i _ cps (t + 1), calculating the compressed voltage u _ cps (t + 1) of the next pulse output power supply to reduce the heating power and the coil temperature of the system; wherein:
r in the formulae (11) and (12) e (t) is the current resistance of the system, G(s) is the transfer function, R e Let _setbe the resistance value of the coil at the preset temperature T _ Set, i _ cps (T + 1) be the current value of the equal-ratio compression at the next time T +1 (next pulse), and u _ cps (T + 1) be the compression voltage of the output power at the next time T +1 (next pulse).
Illustratively, the maximum value of the system output voltage is 1500V, for safety and system durability, 1000V is usually set as the standard output intensity, and when the intensity factor is 0.5, the output voltage is 500V; the prior art (original scheme) and the scheme of the invention are subjected to a plurality of experiments, and the experimental structure is shown in the following table (1); compared with the original scheme, the intensity coefficient and the output voltage of the invention are obviously improved in the whole frequency domain: the curves obtained by the experiment are shown in fig. 5 and fig. 6, the intensity coefficient of 10Hz at low frequency is increased from 1 to 1.19, namely the intensity coefficient is 1003.53V, and is increased to 1.19, namely the intensity coefficient is 1194.3V, and is increased by 19 percent; the 100Hz at high frequency is increased from the intensity coefficient of 0.14 to the intensity coefficient of 0.39, namely 385V, and is increased by 178%; greatly increases the frequency selection range of the treatment scheme and improves the treatment effect.
TABLE (1) comparison data of original scheme and full frequency domain intensity coefficient of the invention
The invention provides a control device, which comprises a processor and a memory, wherein the memory is used for storing instructions, and the processor is used for calling the instructions in the memory so as to enable the control device to execute the adaptive temperature control method for the magnetic stimulation device.
The present invention provides an adaptive temperature control system for a magnetic stimulation device, the system comprising: the system comprises an upper computer subsystem, a lower computer subsystem and a heat dissipation system, wherein the upper computer subsystem is connected with the lower computer subsystem, and the heat dissipation system is respectively connected with the upper computer subsystem and the lower computer subsystem;
the upper computer subsystem comprises a core board and a human-computer interaction module which are connected with each other, wherein the core board is used for executing the self-adaptive temperature control method for the magnetic stimulation equipment, and the human-computer interaction module is used for editing parameters of magnetic stimulation output, controlling the start and the end of magnetic stimulation and adjusting the strength of the stimulation output during the magnetic stimulation output and displaying magnetic stimulation information;
the lower computer subsystem comprises a main control module, a power supply filter and at least one path of magnetic stimulation coil, wherein the main control module is connected with the core board, and each path of magnetic stimulation coil is respectively connected with the main control module and the power supply filter; the lower computer subsystem is used for generating a pulse magnetic field;
the heat dissipation system comprises a heat dissipation control module and a heat dissipation device, wherein the input end of the heat dissipation control module is connected with the core board, the output end of the heat dissipation control module is connected with the heat dissipation device, and the heat dissipation system is used for cooling the magnetic stimulation coil and the upper computer subsystem.
Each path of magnetic stimulation coil comprises at least one path of boosting power supply and one path of coil, the output end of each path of boosting power supply is connected with one path of pulse capacitor, and the pulse capacitor is connected with the coil.
Each magnetic stimulation coil comprises a boosting power supply and at least one coil, the output end of the boosting power supply is connected with a pulse capacitor, and the pulse capacitor is connected with the at least one coil.
The heat dissipation device comprises an impeller pump, a water tank and a fan, wherein the output end of the heat dissipation control module is respectively connected with the impeller pump, the water tank and the fan, and the impeller pump is connected with the water tank through a flow sensor; the heat dissipation control module is connected with the water tank through a liquid level sensor; the water tank is connected with the lower computer subsystem through the separator, and the fan is connected with the heat dissipation control module through the rotating speed feedback module.
The invention establishes a transfer function of a magnetic stimulation system, acquires voltage and current at two ends of a coil in real time, identifies real-time parameters of the system by using a least square method, calculates the temperature of the system at the moment according to a resistance value in the real-time parameters, and performs self-adaptive control on a liquid cooling system and output voltage according to the temperature of the system at the moment to achieve the effect of self-adaptive control of the temperature.
The technical scope of the present invention is not limited to the above description, and those skilled in the art can make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and such changes and modifications should fall within the protective scope of the present invention.
Claims (8)
1. An adaptive temperature control method for a magnetic stimulation device, characterized by: the method comprises the following steps:
the method comprises the following steps: establishing magnetic stimulation according to the electrical parameters of all electronic components and coils of the magnetic stimulation systemA physical model of the system; the method comprises the following steps: according to the equivalent total resistance R of all electronic components of the magnetic stimulation system e Equivalent total inductance L e And equivalent magnetic induction multiplied by effective length Bl, equivalent mass M, stiffness K of the coil m And damping R m Establishing a physical model related to the time t and the output voltage u (t) of a power supply at the time t of the system, the current i (t) at two ends of a coil at the time t and the position deviation x (t) of the coil at the time t; the electrical physical model of the magnetic stimulation system is established as follows:
the mechanical physical model of the magnetic stimulation system is established as follows:
in the above formula, t is time, R e Is an equivalent total resistance, L e For equivalent total inductance, bl is the equivalent magnetic induction multiplied by the effective length, M is the equivalent mass of the coil, K m Is the stiffness of the coil, R m Damping for the coil;
step two: establishing a mathematical model according to the physical model, and simplifying the mathematical model to obtain a transfer function from input voltage to output current of the magnetic stimulation system; the method comprises the following steps: performing Laplace transform on the output voltage U (t) of a power supply at the t-th moment of the system, the current I (t) at two ends of the coil and the position displacement X (t) of the coil, and converting the output voltage U (t), the current I (t) at two ends of the coil and the position displacement X (t) of the coil into U(s), I(s) and X(s) to obtain an equation set:
taking X(s) as a link, and arranging an equation set:
simplifying to obtain a transfer function G(s) of the system from the input voltage to the output current:
in the above formula, s is a parameter real time t, which is obtained by Laplace transform of a complex parameter, U(s), I(s) and X(s) are output voltage U (t) of a power supply, current I (t) at two ends of a coil and position displacement X (t) of the coil, and R is R e Is an equivalent total resistance, L e For equivalent total inductance, bl is the equivalent magnetic induction multiplied by the effective length, M is the equivalent mass of the coil, K m As stiffness of the coil, R m Damping for the coil;
step three: fitting real-time parameter values of the magnetic stimulation system at the moment by a least square method according to the real-time input voltage and output current of the magnetic stimulation system and the transfer function;
step four: obtaining the real-time temperature of the coil according to the real-time parameter value;
step five: calculating a temperature error T _ error (T) between the real-time temperature T (T) of the coil and a preset temperature T _ Set of the system, controlling the heat dissipation strength of the heat dissipation system by judging the positive and negative of the T _ error (T), if the T _ error (T) is positive, controlling the heat dissipation strength to accelerate the heat dissipation of the coil, and if the T _ error (T) is negative, controlling the heat dissipation strength to slow down the heat dissipation of the coil.
2. An adaptive temperature control method for a magnetic stimulation device according to claim 1, characterized in that: the fitting of the real-time parameter value of the system at the moment by the least square method comprises the following steps: setting the collected real-time input voltage as u _ real (t) and the output current i _ real (t), and fitting the real-time parameter value R of the system at the moment by using a least square method e （t）、L e （t）、Bl（t）、K m (t) and R m (t) is:
wherein R is e _lband R e Ub is the equivalent total resistance R during system operation e Lower and upper limit values of (2), L e _lband L e Ub is the equivalent total inductance L during system operation e Bllb and Bl _ ub are the lower limit and upper limit of the effective length Bl multiplied by the equivalent magnetic induction during system operation, K m _lband K m Ubb is the stiffness K of the coil during system operation m Lower and upper limits of (2), R m L lb and R m Ubb is the damping R of the coil during system operation m A lower limit value and an upper limit value of (2).
3. An adaptive temperature control method for a magnetic stimulation device according to claim 1, characterized in that: the obtaining of the real-time temperature of the coil according to the real-time parameter value includes:
according to the fitted t time R e (T), the coil temperature T (T) at this time is obtained, and the calculation formula of T (T) is:
where C is a reference constant C =0.01724, B is a coil temperature coefficient of resistivity B =0.004, and t (0) is a coil initial temperature, i.e., an ambient temperature; t is a unit of r Is a reference temperature, R e (0) Is the resistance value, R, of the coil at a temperature T (0) e (T) is the resistance value of the coil at the time of temperature T (T).
4. An adaptive temperature control method for a magnetic stimulation device according to claim 1, characterized in that: the step of controlling the heat dissipation force comprises controlling the voltage of an impeller pump of a heat dissipation system; when the temperature error at the T-th time is known as T _ error (T), the variation Control _ U (T + 1) of the vane pump Control voltage is:
wherein, the first and the second end of the pipe are connected with each other,
the voltage of the next pulse is calculated as:
in the above formula, U _ Cool (t) is the voltage of the vane pump at the present moment, K p Is a proportionality coefficient in PID algorithm, T i To integrate the time constant, T d The differential time constant is adopted, T _ error (T) is the temperature error at the T moment, T _ Set is the temperature Set by the system, T (T) is the real-time temperature, and U _ Cool (T + 1) is the voltage of the impeller pump at the next moment T + 1;
judging whether the real-time voltage of the impeller pump reaches the maximum or not under the condition that the T _ error (T) is positive, if so, judging whether the real-time voltage of the impeller pump reaches the maximum or not according to a default resistance value R e Set and current resistance value R e (t) the ratio of the current i (t) of the previous pulse is compressed to obtain a compressed current i _ cps (t + 1) of the next pulse; according to the inverse G of the transfer function at that time -1 (s) and the compressed current i _ cps (t + 1), calculating the compressed voltage u _ cps (t + 1) of the next pulse output power supply, and reducing the heating power and the coil temperature of the system; the specific calculation formula is as follows:
in the above formula R e (t) is the current resistance of the system, G(s) is the transfer function, R e Setset is the resistance value of the coil at the preset temperature T _ Set, i _ cps (T + 1) is the current value of the equal-ratio compression at the next time T +1, and u _ cps (T + 1) is the compression voltage of the output power supply at the next time T + 1.
5. A control device comprising a processor and a memory, the memory for storing instructions, the processor for invoking the instructions in the memory to cause the control device to perform the adaptive temperature control method for a magnetic stimulation device according to any one of claims 1-4.
6. An adaptive temperature control system for a magnetic stimulation device, characterized by: the control system includes:
the upper computer subsystem comprises a core board and a human-computer interaction module which are connected with each other, wherein the core board is used for executing the self-adaptive temperature control method for the magnetic stimulation equipment according to any one of claims 1 to 4, the human-computer interaction module is used for editing parameters of magnetic stimulation output, controlling the start and the end of magnetic stimulation, adjusting the intensity of the stimulation output during the magnetic stimulation output and displaying magnetic stimulation information;
the lower computer subsystem comprises a main control module, a power supply filter and at least one path of magnetic stimulation coil, wherein the main control module is connected with the core board, and each path of magnetic stimulation coil is respectively connected with the main control module and the power supply filter; the lower computer subsystem is used for generating a pulse magnetic field;
the heat dissipation system comprises a heat dissipation control module and a heat dissipation device, wherein the input end of the heat dissipation control module is connected with the core board, the output end of the heat dissipation control module is connected with the heat dissipation device, and the heat dissipation system is used for cooling the magnetic stimulation coil and the upper computer subsystem;
the heat dissipation device comprises an impeller pump, a water tank and a fan, wherein the output end of the heat dissipation control module is respectively connected with the impeller pump, the water tank and the fan, and the impeller pump is connected with the water tank through a flow sensor; the heat dissipation control module is connected with the water tank through a liquid level sensor; the water tank is connected with the lower computer subsystem through the separator, and the fan is connected with the heat dissipation control module through the rotating speed feedback module.
7. An adaptive temperature control system for a magnetic stimulation device according to claim 6, characterized in that: each magnetic stimulation coil comprises at least one path of boosting power supply and one path of coil, the output end of each path of boosting power supply is connected with one path of pulse capacitor, and the pulse capacitor is connected with the coil.
8. An adaptive temperature control system for a magnetic stimulation device according to claim 6, characterized in that: each magnetic stimulation coil comprises a boosting power supply and at least one coil, the output end of the boosting power supply is connected with a pulse capacitor, and the pulse capacitor is connected with the at least one coil.
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